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#include <dart/dynamics/BodyNode.hpp>
#include <dart/dynamics/EllipsoidShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/ShapeNode.hpp>
#include <dart/dynamics/Skeleton.hpp>

#include <gtest/gtest.h>

using namespace dart;
using namespace dart::dynamics;

namespace {

SkeletonPtr createSphereSkeleton()
{
  auto skeleton = Skeleton::create("sphere");

  BodyNode::Properties bodyProps;
  bodyProps.mName = "sphere_link";

  FreeJoint::Properties jointProps;
  jointProps.mName = "world";

  auto pair = skeleton->createJointAndBodyNodePair<FreeJoint>(
      nullptr, jointProps, bodyProps);
  BodyNode* body = pair.second;
  auto shape = std::make_shared<EllipsoidShape>(Eigen::Vector3d::Constant(2.0));
  body->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
      shape);

  return skeleton;
}

} // namespace

// Regression test for https://github.com/dartsim/dart/issues/1534.
TEST(ShapeNodePtrTest, KeepsSkeletonAliveUntilReset)
{
  SkeletonPtr skeleton = createSphereSkeleton();
  ASSERT_TRUE(skeleton);
  auto* body = skeleton->getBodyNode(0);
  ASSERT_NE(body, nullptr);

  ShapeNodePtr shape = body->getShapeNode(0);
  ASSERT_NE(shape, nullptr);

  std::weak_ptr<Skeleton> weakSkeleton = skeleton;
  skeleton.reset();

  EXPECT_FALSE(weakSkeleton.expired());
  EXPECT_NE(shape->getShape().get(), nullptr);
  EXPECT_EQ(shape->getBodyNodePtr().get(), body);
  EXPECT_EQ(shape->getSkeleton().get(), weakSkeleton.lock().get());

  shape = nullptr;
  EXPECT_TRUE(weakSkeleton.expired());
}
